# Copyright 2020 PAL Robotics S.L.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from controller_manager import configure_controller, load_controller, switch_controllers

from ros2cli.node.direct import add_arguments
from ros2cli.node.strategy import NodeStrategy
from ros2cli.verb import VerbExtension

from ros2controlcli.api import add_controller_mgr_parsers, ControllerNameCompleter


class LoadControllerVerb(VerbExtension):
    """Load a controller in a controller manager."""

    def add_arguments(self, parser, cli_name):
        add_arguments(parser)
        arg = parser.add_argument("controller_name", help="Name of the controller")
        arg.completer = ControllerNameCompleter()
        arg = parser.add_argument(
            "--set-state",
            choices=["inactive", "active"],
            help="Set the state of the loaded controller",
        )
        add_controller_mgr_parsers(parser)

    def main(self, *, args):
        with NodeStrategy(args) as node:
            response = load_controller(node, args.controller_manager, args.controller_name)
            if not response.ok:
                return "Error loading controller, check controller_manager logs"

            if not args.set_state:
                print(f"Successfully loaded controller {args.controller_name}")
                return 0

            # we in any case configure the controller
            response = configure_controller(node, args.controller_manager, args.controller_name)
            if not response.ok:
                return "Error configuring controller"

            if args.set_state == "active":
                response = switch_controllers(
                    node, args.controller_manager, [], [args.controller_name], True, True, 5.0
                )
                if not response.ok:
                    return "Error activating controller, check controller_manager logs"

            print(
                f"Successfully loaded controller {args.controller_name} into "
                f'state { "inactive" if args.set_state == "inactive" else "active" }'
            )
            return 0
